Stationary state determination, speed measurements

1. A standalone odometry device comprising:

dual-axis accelerometers, wherein the accelerometers define an array with a first accelerometer mounted at 0°, a second accelerometer mounted at 90°, a third accelerometer mounted at 180°, and a fourth accelerometer mounted at 270°; configured for mounting on a wheel or axle of a vehicle;

an inclinometer; and

a controller in communication with the accelerometers and the inclinometer, the controller being configured to receive data from the accelerometers and the inclinometer, the controller processes the data to determine one or more of the acceleration due to motoring, deceleration due to braking, a self-calibrated wheel diameter, a grade of a surface with which the wheel is in contact, acceleration due to the grade, and deceleration due to the grade.

2. The device of claim 1 , wherein the controller processes the data using one or more equations.

3. The device of claim 2 , wherein the one or more equations comprise:

a c =ω 2 r+g cos θ Grade cos θ− a M/B sin θ− a V cos θ.  Equation (1)

4. The device of claim 2 , wherein the one or more equations comprise:

V=r Wheel ω=r Wheel (( a c +a M/B sin θ+ a V cos θ− g cos θ Grade cos θ)/ r ) 1/2 .  Equation (2)

5. The device of claim 2 , wherein the one or more equations comprise:

θ=θ 0 +ωt+ ½α t 2 .  Equation (3)

6. The device of claim 2 , wherein the one or more equations comprise:

V=r Wheel ω=r Wheel (( a c1 +a c2 )/( r 1 +r 2 )) 1/2 .  Equation (4)

7. The device of claim 2 , wherein the one or more equations comprise:

a t =αr+g cos θ Grade sin θ+ a M/B cos θ− a V sin θ.  Equation (5)

8. The device of claim 2 , wherein the one or more equations comprise:

θ Grade =cos −1 ( A Cos θ+ B )/( g (sin θ+cos 2 θ)).  Equation (6)

where

A =( r 2 ( a c1 +a t3 )− r 1 ( a c2 +a t1 +a t2 −a t3 ))/(2( r 1 +r 2 )) and

B =( r 2 ( a t1 −a c3 )− r 1 ( a t2 +a c3 −a c1 −a c2 ))/(2( r 1 +r 2 )).

9. The device of claim 2 , wherein the one or more equations comprise:

a M/B =g cos θ Grade cos θ− A,   Equation (7)

where

A =( r 2 ( a c1 +a t3 )− r 1 ( a c2 +a t1 +a t2 −a t3 ))/(2( r 1 +r 2 ).

10. The device of claim 2 , wherein the one or more equations comprise:

α=( a t1 +a t2 )/( r 1 +r 2 )=( a t3 +a t4 )/( r 1 +r 2 ).  Equation (8)

11. The device of claim 2 , wherein the one or more equations comprise:

ω 2 =( a c1 +a c2 )/( r 1 +r 2 )=( a c3 +a c4 )/( r 1 +r 2 ).  Equation (9)

12. The device of claim 2 , wherein the one or more equations comprise:

a M/B +g sin θ Grade =r Wheel α.  Equation (10)

13. The device of claim 2 , wherein the one or more equations comprise:

r Wheel =( a M/B +g sin θ Grade )/α.  Equation (11)

14. The device of claim 2 , wherein the one or more equations comprise:

d=ΣV×Δt.   Equation (12)

15. The device of claim 2 , wherein the one or more equations comprise:

d=n 2π r Wheel +((θ−θ 0 )π r Wheel /180).  Equation (13)

16. A standalone odometry device comprising:

a plurality of dual-axis accelerometers, wherein the accelerometers define an array with a first accelerometer mounted at 0°, a second accelerometer mounted at 90°, a third accelerometer mounted at 180°, and a fourth accelerometer mounted at 270°;

an inclinometer;

a controller in communication with the accelerometers and the inclinometer, the controller being configured to receive data from the accelerometers and the inclinometer,

wherein, with the odometry device mounted on a wheel of a vehicle, the controller processes the data from the accelerometers and the inclinometer to determine a parameter selected from the group consisting of acceleration due to motoring, deceleration due to braking, a self-calibrated wheel diameter, a grade of a surface with which the wheel is in contact, acceleration due to the grade, and deceleration due to the grade;

a battery for powering the controller; and

an output for communicating the parameter to an external position/speed computer.